python-control · murrayrm · May 18, 2019 · May 12, 2019 · May 12, 2019 · May 12, 2019
diff --git a/control/lti.py b/control/lti.py
@@ -54,8 +54,9 @@ def isdtime(self, strict=False):
 
         Parameters
         ----------
-        strict: bool (default = False)
-            If strict is True, make sure that timebase is not None
+        strict: bool, optional
+            If strict is True, make sure that timebase is not None.  Default 
+            is False. 
         """
 
         # If no timebase is given, answer depends on strict flag
@@ -73,8 +74,9 @@ def isctime(self, strict=False):
         ----------
         sys : LTI system
             System to be checked
-        strict: bool (default = False)
-            If strict is True, make sure that timebase is not None
+        strict: bool, optional
+            If strict is True, make sure that timebase is not None.  Default 
+            is False. 
         """
         # If no timebase is given, answer depends on strict flag
         if self.dt is None:

diff --git a/control/modelsimp.py b/control/modelsimp.py
@@ -125,9 +125,12 @@ def modred(sys, ELIM, method='matchdc'):
     Raises
     ------
     ValueError
-        - if `method` is not either ``'matchdc'`` or ``'truncate'``
-        - if eigenvalues of `sys.A` are not all in left half plane
-          (`sys` must be stable)
+        Raised under the following conditions:
+
+            * if `method` is not either ``'matchdc'`` or ``'truncate'``
+
+            * if eigenvalues of `sys.A` are not all in left half plane
+              (`sys` must be stable)
 
     Examples
     --------

diff --git a/control/phaseplot.py b/control/phaseplot.py
@@ -118,7 +118,7 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
 
     See also
     --------
-    box_grid(X, Y): construct box-shaped grid of initial conditions
+    box_grid : construct box-shaped grid of initial conditions
 
     Examples
     --------

diff --git a/control/statesp.py b/control/statesp.py
@@ -410,8 +410,7 @@ def horner(self, s):
 
     # Method for generating the frequency response of the system
     def freqresp(self, omega):
-        """
-        Evaluate the system's transfer func. at a list of freqs, omega.
+        """Evaluate the system's transfer func. at a list of freqs, omega.
 
         mag, phase, omega = self.freqresp(omega)
 
@@ -424,22 +423,25 @@ def freqresp(self, omega):
 
              G(exp(j*omega*dt)) = mag*exp(j*phase).
 
-        Inputs
-        ------
-        omega: A list of frequencies in radians/sec at which the system
-            should be evaluated. The list can be either a python list
-            or a numpy array and will be sorted before evaluation.
+        Parameters
+        ----------
+        omega : array
+            A list of frequencies in radians/sec at which the system should be
+            evaluated. The list can be either a python list or a numpy array
+            and will be sorted before evaluation.
 
         Returns
         -------
-        mag: The magnitude (absolute value, not dB or log10) of the system
+        mag : float
+            The magnitude (absolute value, not dB or log10) of the system
             frequency response.
 
-        phase: The wrapped phase in radians of the system frequency
-            response.
+        phase : float
+            The wrapped phase in radians of the system frequency response.
 
-        omega: The list of sorted frequencies at which the response
-            was evaluated.
+        omega : array
+            The list of sorted frequencies at which the response was
+            evaluated.
 
         """
 
@@ -614,11 +616,11 @@ def lft(self, other, nu=-1, ny=-1):
 
         Parameters
         ----------
-        other: LTI
+        other : LTI
             The lower LTI system
-        ny: int, optional
+        ny : int, optional
             Dimension of (plant) measurement output.
-        nu: int, optional
+        nu : int, optional
             Dimension of (plant) control input.
 
         """
@@ -793,19 +795,21 @@ def sample(self, Ts, method='zoh', alpha=None):
         method :  {"gbt", "bilinear", "euler", "backward_diff", "zoh"}
             Which method to use:
 
-               * gbt: generalized bilinear transformation
-               * bilinear: Tustin's approximation ("gbt" with alpha=0.5)
-               * euler: Euler (or forward differencing) method ("gbt" with alpha=0)
-               * backward_diff: Backwards differencing ("gbt" with alpha=1.0)
-               * zoh: zero-order hold (default)
+            * gbt: generalized bilinear transformation
+            * bilinear: Tustin's approximation ("gbt" with alpha=0.5)
+            * euler: Euler (or forward differencing) method ("gbt" with 
+              alpha=0)
+            * backward_diff: Backwards differencing ("gbt" with alpha=1.0)
+            * zoh: zero-order hold (default)
 
         alpha : float within [0, 1]
             The generalized bilinear transformation weighting parameter, which
-            should only be specified with method="gbt", and is ignored otherwise
+            should only be specified with method="gbt", and is ignored
+            otherwise
 
         Returns
         -------
-        sysd : StateSpace system
+        sysd : StateSpace
             Discrete time system, with sampling rate Ts
 
         Notes
@@ -1079,18 +1083,18 @@ def _mimo2siso(sys, input, output, warn_conversion=False):
 
     Parameters
     ----------
-    sys: StateSpace
+    sys : StateSpace
         Linear (MIMO) system that should be converted.
-    input: int
+    input : int
         Index of the input that will become the SISO system's only input.
-    output: int
+    output : int
         Index of the output that will become the SISO system's only output.
-    warn_conversion: bool
-        If True: print a warning message when sys is a MIMO system.
-        Warn that a conversion will take place.
+    warn_conversion : bool, optional
+        If `True`, print a message when sys is a MIMO system,
+        warning that a conversion will take place.  Default is False.
 
     Returns
-    sys: StateSpace
+    sys : StateSpace
         The converted (SISO) system.
     """
     if not (isinstance(input, int) and isinstance(output, int)):
@@ -1341,16 +1345,16 @@ def rss(states=1, outputs=1, inputs=1):
 
     Parameters
     ----------
-    states: integer
+    states : integer
         Number of state variables
-    inputs: integer
+    inputs : integer
         Number of system inputs
-    outputs: integer
+    outputs : integer
         Number of system outputs
 
     Returns
     -------
-    sys: StateSpace
+    sys : StateSpace
         The randomly created linear system
 
     Raises
@@ -1379,16 +1383,16 @@ def drss(states=1, outputs=1, inputs=1):
 
     Parameters
     ----------
-    states: integer
+    states : integer
         Number of state variables
-    inputs: integer
+    inputs : integer
         Number of system inputs
-    outputs: integer
+    outputs : integer
         Number of system outputs
 
     Returns
     -------
-    sys: StateSpace
+    sys : StateSpace
         The randomly created linear system
 
     Raises
@@ -1417,7 +1421,7 @@ def ssdata(sys):
 
     Parameters
     ----------
-    sys: LTI (StateSpace, or TransferFunction)
+    sys : LTI (StateSpace, or TransferFunction)
         LTI system whose data will be returned
 
     Returns

diff --git a/doc-requirements.txt b/doc-requirements.txt
@@ -1,4 +1,5 @@
 numpy
 scipy
 matplotlib
+sphinx_rtd_theme
 numpydoc
diff --git a/doc/conf.py b/doc/conf.py
@@ -30,15 +30,15 @@
 # -- Project information -----------------------------------------------------
 
 project = u'Python Control Systems Library'
-copyright = u'2018, python-control.org'
+copyright = u'2019, python-control.org'
 author = u'Python Control Developers'
 
 # Version information - read from the source code
 import re
 import control
 
-# The short X.Y version
-version = re.sub(r'(\d+\.\d+)\.(.*)', r'\1', control.__version__)
+# The short X.Y.Z version
+version = re.sub(r'(\d+\.\d+\.\d+)(.*)', r'\1', control.__version__)
 
 # The full version, including alpha/beta/rc tags
 release = control.__version__
@@ -109,7 +109,7 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-# html_theme = 'alabaster'
+html_theme = 'sphinx_rtd_theme'
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -120,7 +120,7 @@
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+# html_static_path = ['_static']
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.

diff --git a/doc/control.rst b/doc/control.rst
@@ -16,7 +16,7 @@ System creation
 
     ss
     tf
-    FRD
+    frd
     rss
     drss
 

diff --git a/doc/intro.rst b/doc/intro.rst
@@ -23,7 +23,7 @@ Some differences from MATLAB
 The python-control package makes use of `NumPy <http://www.numpy.org>`_ and
 `SciPy <https://www.scipy.org>`_.  A list of general differences between
 NumPy and MATLAB can be found `here
-<http://www.scipy.org/NumPy_for_Matlab_Users>`_.
+<https://docs.scipy.org/doc/numpy/user/numpy-for-matlab-users.html>`_.
 
 In terms of the python-control package more specifically, here are
 some thing to keep in mind:
-Original file line number
+Diff line change
@@ Expand Up / @@ -16,7 +16,7 @@ System creation @@
         ss
         tf
-        FRD
+        frd
         rss
         drss
@@ Expand Down @@